A Study on Maneuvering Obstacle Motion State Estimation for Intelligent Vehicle Using Adaptive Kalman Filter Based on Current Statistical Model

Table 2

RMSE for CA and CS model.

	CA model		CS model
	Position	1.8468	0.1728	1.6330	0.1440
Velocity	3.8322	0.4923	2.1996	0.2345
Acceleration	2.9796	0.2808	1.3044	0.2153